Movable trundle of walking chassis, walking chassis and walking equipment

Abstract

The utility model relates to the technical field of trundles, and provides a movable trundle of a walking chassis, the walking chassis and walking equipment, a functional assembly is arranged on the walking chassis, the movable trundle comprises a wheel, a wheel shaft, a support and a mounting base, the wheel is rotationally connected to the support through the wheel shaft, the support is connected to the bottom face of the mounting base, and the mounting base is connected to the movable trundle. A steering shaft is connected to the support, a steering groove is formed in the mounting base, the steering shaft is inserted into the steering groove and is in sliding connection with the steering groove, and when the steering shaft slides in the steering groove, the wheels steer; the middle of the functional assembly is connected with the middle of the steering shaft, an included angle alpha is formed between the connecting line and the advancing direction of the walking chassis, and the steering angle of the wheels is smaller than the included angle alpha. The movable trundle has the advantages that (1) the movable trundle can only realize rotation of partial angles, so that other running parts are prevented from being influenced; and (2) the movable trundle can not be blocked in various motion states, and the operation is flexible.

Description

Technical Field

[0001] This utility model relates to the field of casters, and more specifically, to a movable caster for a walking chassis, a walking chassis, and a walking device. Background Technology

[0002] Swivel casters, also known as swivel casters, are designed to rotate 360 ​​degrees horizontally. "Caser" is a general term encompassing both swivel and fixed casters. Fixed casters lack a rotating mechanism and can only rotate vertically, not horizontally. These two types of casters are typically used together; for example, a handcart typically has two fixed casters at the front and two swivel casters near the push handle at the rear.

[0003] Most swivel casters on the market have different axles and steering axes. The steering axis is deflected by a considerable distance relative to the axle, allowing the wheel to rotate 360 ​​degrees around the steering axis. This sweeps over a large area. For example, a 100mm diameter swivel caster rotates around its steering axis with a diameter of about 160mm.

[0004] However, in many scenarios, omnidirectional wheels only need to turn at certain angles and do not require 360-degree rotation. Such wheels waste a significant amount of chassis space, creating a negative impact. For example, lawnmowers: the blade assembly occupies a considerable amount of chassis space in the middle of the lawnmower, and several cutting tools are located around the edge of the blade assembly. In contrast, existing technology uses casters located at the four corners that rotate 360 ​​degrees in a circular motion. Figure 1 As shown, A represents the area occupied by the blade assembly, and B represents the area required for the casters to rotate. The swaying of the casters can easily interfere with the cutting tools. To avoid this interference, the lateral dimensions of the lawnmower need to be increased to obtain sufficient chassis space to separate the casters and blade assembly. This results in excess space in the lawnmower chassis, making the structure less compact and the entire lawnmower larger, which also increases material, warehousing, and logistics costs. Alternatively, small-radius casters can be used to avoid mutual interference, which would affect the lawnmower's off-road capability. Utility Model Content

[0005] The present invention aims to overcome at least one defect (deficiency) of the prior art and provides a movable caster for a walking chassis, a walking chassis and a walking device, so that the caster only rotates a partial angle.

[0006] The technical solution adopted by this utility model is to provide a movable caster for a walking chassis. The walking chassis is provided with a functional component. The movable caster includes a wheel, an axle, a bracket, and a mounting base. The wheel is rotatably connected to the bracket via the axle. The bracket is connected to the bottom surface of the mounting base. A steering shaft is connected to the bracket. The mounting base is provided with a steering groove. The steering shaft is inserted into the steering groove and slidably connected to it. When the steering shaft slides in the steering groove, the wheel turns. A line is drawn connecting the middle part of the functional component and the middle part of the steering shaft. This line forms an angle α with the forward direction of the walking chassis. The steering angle of the wheel is less than the angle α.

[0007] In this technical solution, the steering groove limits the range of motion of the steering shaft, thereby limiting the rotation angle of the wheel. The included angle α is set as follows: when the steering angle of the wheel is less than α, the wheel and the functional component do not interfere with each other.

[0008] On the chassis, the functional components are located on the side of the swivel casters. Therefore, α is an angle less than 180°, and the wheel's steering angle is also less than 180°. Compared to traditional 360° rotating casters, this design results in a smaller area swept by the wheels. When the swivel casters are installed on equipment, the unswept areas can free up space for other components, preventing mutual interference. This eliminates the need to separate the wheels from other components, preventing interference and allowing the wheels to be used in equipment requiring a compact structure. It also expands the application scenarios for large-radius casters, allowing them to fully utilize their superior off-road capabilities and stability without needing to be replaced due to interference with other components. Furthermore, because the wheel's rotation angle is reduced, when multiple wheels are installed on equipment, it prevents jamming caused by large differences in rotation angles between different wheels, making it easier for users to control steering.

[0009] Furthermore, the included angle α is 120°. This angle setting is suitable for most chassis and ensures that the wheels and functional components do not interfere with each other.

[0010] Furthermore, the steering groove is an arc-shaped groove, and the central angle corresponding to the arc-shaped groove is 30~119°.

[0011] In this technical solution, when the mounting base moves forward or backward with the wheel, the steering shaft is at the end of the steering groove. Since the arc groove is curved, the steering shaft will be stuck by the curved part of the steering groove, preventing the steering shaft from moving in the groove when moving forward or backward, thereby preventing mis-steering. In this way, the steering groove does not need to be tilted to prevent mis-steering, and can meet more angle setting requirements.

[0012] The setting of the central angle affects the arc length of the steering groove, thus affecting the wheel's rotation angle and consequently the turning radius. If the central angle is too large and the turning radius is too small, the equipment with the wheels will be unstable. If the central angle is too small and the turning radius is too large, the equipment will be inflexible. Therefore, an appropriate central angle setting ensures a suitable turning radius, allowing the equipment with the casters to avoid obstacles in narrow, winding areas, improving flexibility while maintaining overall stability and balance.

[0013] Furthermore, the bottom end of the steering shaft is slidably connected to the bracket, and the sliding direction is the same as the direction of wheel forward movement.

[0014] In this technical solution, the sliding connection between the steering shaft and the bracket provides more adjustment space between the wheel and the connected equipment when changing direction, preventing the wheel from jamming when transitioning from a steering state to a forward or reverse state. Specifically, let's take the transition from a right-turn to a reverse state as an example for further explanation. Without the sliding connection between the steering shaft and the bracket, when the wheel transitions from a right-turn to a reverse state, it experiences forward friction. Due to the steering groove, the steering shaft gets stuck in the groove, making it difficult to straighten the wheel. However, with the steering shaft and bracket directly sliding, the friction force has a component force on the wheel in the sliding direction. Under the action of this component force, the wheel drives the bracket to slide, causing the point of friction force application to move relative to the wheel's steering shaft. This allows the friction force to drive the wheel to straighten and move smoothly backward. Similarly, the sliding connection in this solution can also prevent the wheel from moving forward after turning right, moving forward after turning left, or moving backward after turning left, thus preventing it from getting stuck. This allows the wheel to rotate smoothly under different conditions, reducing the probability of the user having to manually adjust the direction of the wheel and its connected equipment, and improving the efficiency of the equipment.

[0015] Furthermore, the bottom end of the steering shaft is provided with a slider, and the top of the bracket is connected to a slide rail plate, with the slider matching and connected to the slide rail on the slide rail plate.

[0016] In this technical solution, the slide rail plate is a plate with a slide rail structure. The sliding connection structure achieved by the slider and the slide rail is simple and easy to manufacture. By setting the slide rail plate, instead of directly mounting the slide rail on the bracket, it is possible to prevent the slider from being affected by the wheel due to its proximity to the wheel, for example, if there are foreign objects stuck on the wheel. This ensures smooth sliding.

[0017] Furthermore, the support includes a top plate and a vertical plate, the vertical plate being vertically connected to the top plate, the slide rail plate being connected to the top plate, and the wheel axle being connected to the vertical plate.

[0018] Furthermore, a mounting cylinder is connected to the mounting base.

[0019] In this technical solution, the mounting cylinder facilitates the installation of other components onto the base.

[0020] Furthermore, a movable block is slidably connected within the steering groove, dividing the steering groove into a usage section and an adjustment section, with the steering shaft inserted into the usage section.

[0021] In this technical solution, the length of the section to be used is adjusted by moving the block, thereby adjusting the rotation angle of the wheel and obtaining different turning radii. This allows for reducing the turning radius when increased flexibility is needed and increasing the turning radius when increased stability is needed, thus meeting different angle rotation requirements, adapting to more road conditions, and matching more types of walking equipment. For manufacturers, this improves sales prospects and increases revenue, while for users, it improves ease of use.

[0022] Furthermore, it also includes fasteners, and the mounting base has through holes along the turning groove, through which the fasteners abut against the moving block.

[0023] In this technical solution, the moving block is fixed to the target position by fasteners, thereby adjusting the length of the usage section. This ensures that when the impact force of the steering shaft on the moving block is large, the moving block will not shift relative to the steering groove, eliminating the need for secondary adjustment of the usage section length and making the caster more convenient to use.

[0024] Furthermore, the side of the moving block facing the use section and the end face of the steering groove located in the use section are both provided with elastic pads.

[0025] In this technical solution, the elastic pad plays a shock absorption role. When the impact force of the steering shaft on the moving block or steering groove is large, the elastic pad can buffer the impact and prevent the equipment with the movable casters from shaking, thereby improving the overall stability.

[0026] Another objective of this utility model is to provide a walking chassis, wherein the chassis is connected to a driving rear wheel and a driven front wheel, the driven front wheel being any of the aforementioned movable casters, and the forward direction of the mounting base is the same as the forward direction of the chassis.

[0027] Furthermore, the active rear wheel is equipped with a drive motor for independent drive, and the active rear wheel drives the driven front wheel for differential steering.

[0028] In this technical solution, the chassis is equipped with two active rear wheels, each of which is driven by a drive motor for independent driving.

[0029] Another objective of this utility model is to provide a walking device, including a device body and a walking chassis as described above, wherein the device body is connected to the walking chassis.

[0030] By installing the movable casters of this invention onto the chassis of the mobile equipment, the reduced rotation angle and the smaller area swept during rotation prevent interference with other components on the mobile equipment. This eliminates the need to increase the distance between the casters and the equipment, resulting in a more compact structure, reduced space occupation, increased flexibility, and reduced material consumption, thus saving costs. Even with large-radius casters, interference between the casters and other components on the equipment is avoided, thereby improving the stability of the mobile equipment.

[0031] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0032] (1) In this utility model, the area swept by the wheel is smaller. When the movable caster is installed on the equipment, the part not swept by the wheel can make room for other parts and avoid mutual interference. In this way, it is possible to prevent mutual interference without having to separate the wheel from other parts. This makes the wheel suitable for equipment that requires a compact structure and allows the large-radius caster to have more application scenarios, giving full play to its superior off-road capability and stability performance, without having to be replaced because the large radius of the wheel interferes with other parts. In addition, since the rotation angle of the wheel itself is reduced, when multiple wheels are installed on the equipment, it can avoid the large difference in rotation angle between different wheels that could cause jamming, thus making it easier for users to control the steering.

[0033] (2) By sliding the steering shaft and the bracket, the wheel and the connected equipment have more adjustment space when changing direction, preventing the wheel from getting stuck when changing from steering state to forward or backward state.

[0034] (3) By adjusting the length of the section to be used by moving the block, the rotation angle of the wheel can be adjusted to obtain different turning radii. This makes it convenient to reduce the turning radius when it is necessary to improve flexibility and increase the turning radius when it is necessary to improve stability, thereby meeting different angle rotation requirements, adapting to more road conditions, and matching more types of walking equipment. For manufacturers, this improves sales prospects and increases revenue, and for users, it improves the convenience of use. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the area swept by the rotating movable caster in the prior art.

[0036] Figure 2 This is a schematic diagram of the area swept by the rotating caster in Example 1.

[0037] Figure 3 This is an exploded view of the movable caster structure in Example 1.

[0038] Figure 4 This is a schematic diagram of the mounting base in Example 1.

[0039] Figure 5 This is a schematic diagram of the mounting base in Example 2.

[0040] Figure 6 This is a schematic diagram of the chassis structure for Example 3.

[0041] Figure 7 This is a schematic diagram of the frictional force on the left driven front wheel when the chassis of Example 3 changes from turning right to reversing.

[0042] Figure 8 This is a schematic diagram of the structure of the chassis in Example 3 when it is moving forward.

[0043] Figure 9 This is a schematic diagram of the structure of the chassis in Example 3 when it is reversing.

[0044] Figure 10 This is a schematic diagram of the chassis turning left in Example 3.

[0045] Figure 11 This is a schematic diagram of the chassis turning right in Example 3.

[0046] Figure 12 This is a schematic diagram of the wheel rotating to angle α in Example 1.

[0047] Reference numerals: wheel 100, axle 200, bracket 300, top plate 310, vertical plate 320, mounting base 400, mounting cylinder 410, steering shaft 500, slider 510, steering groove 600, moving block 610, slide rail plate 700, slide rail 710, traveling chassis 800, traveling equipment 900. Detailed Implementation

[0048] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the scope of this invention. To better illustrate the following embodiments, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0049] Example 1

[0050] like Figure 3 and Figure 4As shown, this embodiment provides a movable caster for a walking chassis. The walking chassis is equipped with functional components, including a wheel 100, an axle 200, a bracket 300, and a mounting base 400. The wheel 100 is rotatably connected to the bracket 300 via the axle 200. The bracket 300 is connected to the bottom surface of the mounting base 400. A steering shaft 500 is connected to the bracket 300. The mounting base 400 is provided with a steering groove 600. The steering shaft 500 is inserted into the steering groove 600 and slidably connected thereto. When the steering shaft 500 slides within the steering groove 600, the wheel 100 steers. A line connecting the middle of the functional component and the middle of the steering shaft 500 forms an angle α with the forward direction of the walking chassis. The steering angle of the wheel 100 is less than the angle α. Specifically, the top of the steering shaft 500 has a protrusion, which is inserted into the steering groove 600.

[0051] The arrangement of the steering groove 600 limits the range of movement of the steering shaft 500, thereby limiting the rotation angle of the wheel 100. Preferably, the included angle α is 120°. Figure 2 As shown, compared to the area swept by a traditional 360° rotating caster ( Figure 2 In option B), the area swept by wheel 100 in this solution is smaller. Figure 2 (C) When the swivel casters are installed on the equipment, the areas not swept by the wheels 100 can free up space for other components, avoiding mutual interference. This prevents interference without requiring the wheels 100 to be spaced further from other components, making the wheels 100 suitable for equipment requiring a compact structure. It also allows for more applications of the large-radius casters, fully utilizing their superior off-road capabilities and stability, without requiring replacement due to interference with other components. Furthermore, because the rotation angle of the wheels 100 is reduced, when multiple wheels 100 are installed on the equipment, it prevents jamming caused by excessively different rotation angles between different wheels 100, thus making it easier for users to control steering.

[0052] In addition, such as Figure 12 As shown, when the rotation angle of the wheel is equal to α, the wheel is closest to the functional component (e.g., Figure 12 In the case of D), the rotation angle of the wheel is set to be less than α. This not only reduces the rotation angle of the wheel to less than the traditional 360°, but also greatly avoids interference with functional components, thus ensuring the normal operation of the functional components.

[0053] The steering groove 600 is an arc-shaped groove, and the central angle corresponding to the arc-shaped groove is 30~119°, for example, the central angle is 40°, 50°, 60°, 90°, 110° or 119°, etc.

[0054] When the mounting base 400 moves forward or backward with the wheel 100, the steering shaft 500 is located at the end of the steering groove 600. Since the arc groove is curved, the steering shaft 500 will be stuck by the curved part of the steering groove 600, preventing the steering shaft 500 from moving in the groove when moving forward or backward, thereby preventing accidental steering. In this way, the steering groove 600 does not need to be tilted to prevent accidental steering, and can meet more angle setting requirements.

[0055] The setting of the central angle affects the arc length of the steering groove 600, thus affecting the rotation angle of the wheel 100 and consequently the turning radius. If the central angle is too large and the turning radius is too small, the equipment with the wheel 100 will be unstable. If the central angle is too small and the turning radius is too large, the equipment will be inflexible. Therefore, an appropriate central angle setting ensures a suitable turning radius, allowing the equipment with the casters to avoid obstacles in narrow or curved areas, improving flexibility while maintaining overall stability and balance.

[0056] The bottom end of the steering shaft 500 is slidably connected to the bracket 300, and the sliding direction is the same as the forward direction of the wheel 100. Specifically, the bottom end of the steering shaft 500 is provided with a slider 510, and the top of the bracket 300 is connected to a slide rail 710 plate 700. The slider 510 is matched and connected to the slide rail 710 on the slide rail 710 plate 700. A mounting cylinder 410 is connected to the mounting base 400. Specifically, when the mounting base 400 moves forward, the steering shaft 500 slides in front of the wheel 100. When the mounting base 400 moves backward, the steering shaft 500 slides behind the driven wheel. In the direction of movement, when the mounting base 400 moves forward or backward, the steering shaft 500 always drags the wheel 100 forward in front of it.

[0057] The bracket 300 includes a top plate 310 and a vertical plate 320. The vertical plate 320 is vertically connected to the top plate 310. The slide rail 710 plate 700 is connected to the top plate 310, and the wheel axle 200 is connected to the vertical plate 320.

[0058] Example 2

[0059] like Figure 3 and Figure 5 As shown, the embodiment provides a movable caster for a walking chassis, which has a similar structure to that of embodiment 1, except that: a movable block 610 is slidably connected in the steering groove 600, the movable block 610 divides the steering groove 600 into a use section and an adjustment section, and the steering shaft 500 is inserted into the use section.

[0060] The length of the section to be used is adjusted by moving block 610, thereby adjusting the rotation angle of wheel 100 and obtaining different turning radii. This allows for reducing the turning radius when increased flexibility is needed and increasing the turning radius when increased stability is needed, thus meeting different angle rotation requirements, adapting to more road conditions, and matching more types of walking equipment 900. For manufacturers, this improves sales prospects and increases revenue, while for users, it improves ease of use.

[0061] Furthermore, it also includes fasteners, and the mounting base 400 has through holes along the turning groove 600, through which the fasteners abut against the movable block 610. Elastic pads are provided on the side of the movable block 610 facing the use section and on the end face of the turning groove 600 located in the use section.

[0062] The movable block 610 is fixed to the target position by fasteners, thereby adjusting the length of the usage section. This ensures that when the impact force of the steering shaft 500 on the movable block 610 is large, the movable block 610 will not shift relative to the steering groove 600, eliminating the need for secondary adjustment of the usage section length and making the caster more convenient to use.

[0063] The elastic pads act as shock absorbers. When the impact force of the steering shaft 500 on the moving block 610 or the steering groove 600 is large, the elastic pads can buffer the impact and prevent the equipment with the movable casters from shaking, thereby improving the overall stability.

[0064] Example 3

[0065] like Figures 7 to 11 As shown, this embodiment provides a walking chassis 800, which is connected to a driving rear wheel and a driven front wheel. The driven front wheel is a movable caster provided in either Embodiment 1 or Embodiment 2. The forward direction of the mounting base 400 is the same as the forward direction of the chassis. Two driving rear wheels are connected to the walking chassis 800, and each driving rear wheel is equipped with a drive motor for independent driving. The driving rear wheels drive the driven front wheels for differential steering. Preferably, the mounting base 400 and the chassis are integrally connected.

[0066] In this embodiment, the steering shaft 500 and the bracket 300 are slidably connected, which allows for more adjustment space between the wheel 100 and the chassis it is connected to when changing direction, preventing the wheel 100 from getting stuck when changing from a steering state to a forward or reverse state.

[0067] Specifically, let's take the example of changing from a right-turn to a reverse position for further explanation. When the steering shaft 500 and the bracket 300 are not slidably connected, and the wheel 100 changes from a right-turn to a reverse position, the wheel 100 experiences a forward frictional force f. The right driven front wheel can be smoothly aligned under the action of f. However, due to the steering groove 600, the steering shaft 500 of the left driven front wheel is restricted from moving within the groove, making it more difficult to align the wheel 100. This results in the chassis jamming when one wheel is aligned while the other is tilted.

[0068] In the case where the steering shaft 500 is directly connected to a sliding connection, the frictional force f exerts a component force f1 on the wheel 100 in the sliding direction. Under the action of this component force, the wheel 100 drives the bracket 300 to slide, causing the point of force application of the frictional force f to move relative to the steering shaft 500 of the wheel 100. This allows the frictional force f to drive the wheel 100 to straighten and move smoothly backward. Similarly, the sliding connection in this solution can also prevent jamming due to forward movement after a right turn, forward movement after a left turn, or backward movement after a left turn. This allows the wheel 100 to rotate smoothly under different conditions, reducing the probability of the user manually adjusting the wheel 100 and the chassis direction, and improving the efficiency of the equipment connected to the chassis.

[0069] In this embodiment, the sliding connection between the steering shaft 500 and the bracket 300 will be further explained. When the chassis moves forward, the driving rear wheel and the driven front wheel are parallel, and the steering shaft 500 of the movable caster slides to the front of the wheel 100. When the chassis moves backward, the driving rear wheel and the driven front wheel are parallel, and the steering shaft 500 of the movable caster slides to the rear of the wheel 100. In the direction of movement, when the chassis moves forward or backward, the steering shaft 500 of the movable caster always pulls the wheel 100 forward in front of it. When the chassis turns left, the steering shaft 500 of the driven front wheel on the left slides to the rear of the wheel 100, and the driven front wheel on the right slides to the front of the driven front wheel; the opposite is true when the chassis turns right.

[0070] Example 4

[0071] This embodiment provides a walking device 900, including a device body and a walking chassis 800 provided in embodiment 3, wherein the device body is connected to the walking chassis 800.

[0072] By installing the movable casters of this invention onto the chassis of the walking device 900, the rotation angle of the casters is reduced, and the area swept during rotation is also reduced, thus avoiding interference with the components mounted on the walking device 900. Specifically, the walking device 900 is, for example, a lawnmower; the installation of the movable casters can prevent interference with functional components.

[0073] The elimination of the need to increase the distance between the two components allows for a more compact structure of the walking device 900, reducing its space occupation, increasing flexibility, and saving production materials, thus reducing costs. Furthermore, even with large-radius casters, interference between the casters and other components on the equipment can be avoided, thereby improving the stability of the walking device 900. Therefore, the movable casters of this invention are highly practical and have promising application prospects.

[0074] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the technical solution of this utility model, and are not intended to limit the specific implementation of this utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the claims of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A movable caster for a walking chassis, the walking chassis having functional components, the movable caster comprising a wheel, an axle, a bracket, and a mounting base, the wheel being rotatably connected to the bracket via the axle, the bracket being connected to the bottom surface of the mounting base, characterized in that, A steering shaft is connected to the bracket, and a steering groove is provided on the mounting base. The steering shaft is inserted into the steering groove and slidably connected to it. When the steering shaft slides in the steering groove, the wheel turns. A line is drawn connecting the middle part of the functional component and the middle part of the steering shaft. This line forms an angle α with the forward direction of the chassis. The steering angle of the wheel is less than the angle α.

2. The movable casters of the walking chassis according to claim 1, characterized in that, The included angle α is 120°.

3. The movable casters of the walking chassis according to claim 1, characterized in that, The steering groove is an arc-shaped groove, and the central angle corresponding to the arc-shaped groove is 30 to 119°.

4. The movable casters of the walking chassis according to any one of claims 1 to 3, characterized in that, The bottom end of the steering shaft is slidably connected to the bracket, and the sliding direction is the same as the direction of wheel forward movement.

5. The movable casters of the walking chassis according to claim 4, characterized in that, The bottom end of the steering shaft is provided with a slider, and the top of the bracket is connected to a slide rail plate. The slider is matched and connected to the slide rail on the slide rail plate.

6. The movable casters of the walking chassis according to claim 5, characterized in that, The support includes a top plate and a vertical plate, with the vertical plate vertically connected to the top plate, the slide rail plate connected to the top plate, and the wheel axle connected to the vertical plate.

7. The movable casters of the walking chassis according to claim 5, characterized in that, An installation cylinder is connected to the mounting base.

8. A walking chassis, characterized in that, The chassis is connected to a driving rear wheel and a driven front wheel. The driven front wheel is a movable caster of the walking chassis according to any one of claims 1 to 7. The forward direction of the mounting base is the same as the forward direction of the chassis.

9. The chassis according to claim 8, characterized in that, The active rear wheel is equipped with a drive motor for independent drive, and the active rear wheel drives the driven front wheel for differential steering.

10. A walking device, characterized in that, It includes a main body and a walking chassis as described in any one of claims 8 or 9, wherein the main body is connected to the walking chassis.

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